WIP: nuttx common early pin init per architecture

boards/ark/fmu-v6x/nuttx-config/include/board.h

@@ -302,7 +302,7 @@
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
 /* LED definitions ******************************************************************/
-/* The ARKV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+/* The board board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
  * LED_RED a Red LED, that can be controlled by software.
  *
  * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
@@ -366,10 +366,10 @@
 #define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
 #define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
 
-#define GPIO_USART2_RX   GPIO_USART2_RX_1       /* PA3   */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5   */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4   */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3   */
+#define GPIO_USART2_RX   GPIO_USART2_RX_1                       /* PA3   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2                       /* PD5   */
+#define GPIO_USART2_RTS (GPIO_USART2_RTS_2 | GPIO_PULLDOWN)     /* PD4   */
+#define GPIO_USART2_CTS (GPIO_USART2_CTS_NSS_2 | GPIO_PULLDOWN) /* PD3   */
 
 #define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
 #define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
@@ -385,10 +385,10 @@
 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
-#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4                   /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3                   /* PE8  */
+#define GPIO_UART7_RTS  (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8  */
+#define GPIO_UART7_CTS  (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
 
 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
@@ -447,27 +447,15 @@
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
 
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-
 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
 
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
 #define GPIO_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
 #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
 
-#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
-#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
-
 #define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
 #define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
 
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
 /* SDMMC2
  *
  *      VDD 3.3

boards/ark/fmu-v6x/nuttx-config/scripts/bootloader_script.ld

@@ -34,7 +34,7 @@
  *
  ****************************************************************************/
 
-/* The ARKV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H753II has 2048Kb of main FLASH memory.
  * The flash memory is partitioned into a User Flash memory and a System
  * Flash memory. Each of these memories has two banks:
  *
@@ -59,7 +59,7 @@
  *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
  *      ST programmed value: System bootloader at 0x1FF0:0000
  *
- * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
+ * The board has a test point on board, the BOOT0 pin is at ground so by
  * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
  * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
  *

boards/ark/fmu-v6x/nuttx-config/scripts/script.ld

@@ -34,7 +34,7 @@
  *
  ****************************************************************************/
 
-/* The ARKV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H753II has 2048Kb of main FLASH memory.
  * The flash memory is partitioned into a User Flash memory and a System
  * Flash memory. Each of these memories has two banks:
  *
@@ -59,7 +59,7 @@
  *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
  *      ST programmed value: System bootloader at 0x1FF0:0000
  *
- * The ARKV6X has a test point on board, the BOOT0 pin is at ground so by
+ * The board has a test point on board, the BOOT0 pin is at ground so by
  * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
  * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
  *

boards/ark/fmu-v6x/src/CMakeLists.txt

@@ -40,6 +40,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 	)
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_board_init
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer #gpio
@@ -67,6 +68,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_board_init
 			arch_io_pins
 			arch_spi
 			arch_board_hw_info

boards/ark/fmu-v6x/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * ARKFMU-v6x internal definitions
+ * board internal definitions
  */
 
 #pragma once
@@ -253,15 +253,6 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
 #define BOARD_PWM_FREQ	             1024000
 
-#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
-#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
-#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
-#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
-#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
-#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
-#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
-#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
-
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -367,7 +358,7 @@
 #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
 
 /*
- * ARKV6X has a separate RC_IN
+ * board has a separate RC_IN
  *
  * GPIO PPM_IN on PI5 T8CH1
  * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
@@ -401,7 +392,7 @@
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 
-/* ARKV6X never powers off the Servo rail */
+/* board never powers off the Servo rail */
 
 #define BOARD_ADC_SERVO_VALID     (1)
 
@@ -453,14 +444,11 @@
 		GPIO_TRACE,                       \
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
 		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
+		GPIO_OTGFS_VBUS,                  \
 		GPIO_VDD_5V_PERIPH_nEN,           \
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
@@ -477,15 +465,7 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
 		GPIO_nARMED_INIT,                 \
-		GPIO_FMU_CH1,     	          \
-		GPIO_FMU_CH2,     	          \
-		GPIO_FMU_CH3,     	          \
-		GPIO_FMU_CH4,     	          \
-		GPIO_FMU_CH5,     	          \
-		GPIO_FMU_CH6,     	          \
-		GPIO_FMU_CH7,     	          \
-		GPIO_FMU_CH8,     	          \
-		GPIO_FMU_CAP,     	          \
+		GPIO_FMU_CAP,     	           \
 		GPIO_SPIX_SYNC                    \
 	}
 
@@ -533,8 +513,6 @@ int stm32_sdio_initialize(void);
 
 extern void stm32_spiinitialize(void);
 
-extern void stm32_usbinitialize(void);
-
 extern void board_peripheral_reset(int ms);
 
 #include <px4_platform_common/board_common.h>

boards/ark/fmu-v6x/src/bootloader_main.c

@@ -46,33 +46,10 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
-#include <px4_platform/gpio.h>
 #include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
 
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure pins */
-	const uint32_t list[] = PX4_GPIO_INIT_LIST;
-
-	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
-		if (list[gpio] != 0) {
-			px4_arch_configgpio(list[gpio]);
-		}
-	}
-
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
 void board_late_initialize(void)
 {
 	sercon_main(0, NULL);

boards/ark/fmu-v6x/src/init.c

@@ -34,7 +34,7 @@
 /**
  * @file init.c
  *
- * ARKFMU-specific early startup code.  This file implements the
+ * board-specific early startup code.  This file implements the
  * board_app_initialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
@@ -69,6 +69,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
+#include <px4_arch/board_init.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_manifest.h>
@@ -165,23 +166,12 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
+	px4_arch_pin_initialize();
 
 	/* configure LEDs */
-
 	board_autoled_initialize();
 
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
 	VDD_3V3_ETH_POWER_EN(true);
-
 }
 
 /****************************************************************************
@@ -211,7 +201,10 @@ stm32_boardinitialize(void)
 
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
+#if !defined(BOOTLOADER)
+
 	/* Power on Interfaces */
+	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_3V3_SENSORS4_EN(true);
@@ -249,11 +242,11 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-#if defined(SERIAL_HAVE_RXDMA)
+#  if defined(SERIAL_HAVE_RXDMA)
 	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
 	static struct hrt_call serial_dma_call;
 	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
-#endif
+#  endif
 
 	/* initial LED state */
 	drv_led_start();
@@ -270,7 +263,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	VDD_3V3_SD_CARD_EN(true);
 	usleep(500 * 1000);
 
-#ifdef CONFIG_MMCSD
+#  ifdef CONFIG_MMCSD
 	int ret = stm32_sdio_initialize();
 
 	if (ret != OK) {
@@ -278,11 +271,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		return ret;
 	}
 
-#endif /* CONFIG_MMCSD */
+#  endif /* CONFIG_MMCSD */
 
 	/* Configure the SPIX_SYNC output */
 	spix_sync_servo_init(BOARD_SPIX_SYNC_FREQ);
 	spix_sync_servo_set(0, 150);
 
+#endif /* !defined(BOOTLOADER) */
+
 	return OK;
 }

boards/ark/fmu-v6x/src/led.c

@@ -34,7 +34,7 @@
 /**
  * @file led.c
  *
- * ARKFMU LED backend.
+ * board LED backend.
  */
 
 #include <px4_platform_common/px4_config.h>

boards/ark/fmu-v6x/src/usb.c

@@ -51,43 +51,12 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include "arm_internal.h"
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
 #include "board_config.h"
 
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the ARKFMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
 /************************************************************************************
  * Name:  stm32_usbsuspend
  *

boards/px4/fmu-v5/src/CMakeLists.txt

@@ -51,6 +51,7 @@ add_dependencies(drivers_board nuttx_context)
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_board_init
 		arch_board_hw_info
 		arch_io_pins
 		arch_spi

boards/px4/fmu-v5/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU-v5 internal definitions
+ * board internal definitions
  */
 
 #pragma once
@@ -336,7 +336,7 @@
 #define SPEKTRUM_POWER_CONFIG()           px4_arch_configgpio(GPIO_VDD_3V3_SPEKTRUM_POWER_EN)
 
 /*
- * FMUv5 has a separate RC_IN
+ * board has a separate RC_IN
  *
  * GPIO PPM_IN on PI5 T8CH1
  * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PG9 (NOT FMUv5 test HW ONLY)
@@ -417,15 +417,6 @@
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \
 		GPIO_HW_VER_DRIVE,                \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_CAN3_TX,                     \
-		GPIO_CAN3_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S1,              \
-		GPIO_CAN3_SILENT_S2,              \
 		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
@@ -442,15 +433,7 @@
 		GPIO_RSSI_IN_INIT,                \
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_nARMED_INIT,                  \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
+		GPIO_nARMED_INIT                  \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -494,8 +477,6 @@ int stm32_sdio_initialize(void);
 
 extern void stm32_spiinitialize(void);
 
-extern void stm32_usbinitialize(void);
-
 extern void board_peripheral_reset(int ms);
 
 #include <px4_platform_common/board_common.h>

boards/px4/fmu-v5/src/can.c

@@ -75,19 +75,17 @@ uint16_t board_get_can_interfaces(void)
 #include "stm32_can.h"
 #include "board_config.h"
 
-#ifdef CONFIG_CAN
-
 /************************************************************************************
  * Pre-processor Definitions
  ************************************************************************************/
 /* Configuration ********************************************************************/
 
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#if defined(CONFIG_STM32F7_CAN1) && defined(CONFIG_STM32F7_CAN2)
 #  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
+#  undef CONFIG_STM32F7_CAN2
 #endif
 
-#ifdef CONFIG_STM32_CAN1
+#ifdef CONFIG_STM32F7_CAN1
 #  define CAN_PORT 1
 #else
 #  define CAN_PORT 2
@@ -145,7 +143,4 @@ int can_devinit(void)
 
 	return OK;
 }
-
-#endif
-
 #endif /* CONFIG_CAN */

boards/px4/fmu-v5/src/init.c

@@ -35,10 +35,10 @@
  * @file init.c
  *
  * PX4FMU-specific early startup code.  This file implements the
- * board_app_initializ() function that is called early by nsh during startup.
+ * board_app_initialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
+ * subsystems and perform board-specific initialization.
  */
 
 /****************************************************************************
@@ -66,10 +66,11 @@
 #include <arch/board/board.h>
 #include "arm_internal.h"
 
-#include <px4_arch/io_timer.h>
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
+#include <px4_arch/board_init.h>
+#include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
@@ -161,22 +162,10 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
+	px4_arch_pin_initialize();
 
 	/* configure LEDs */
-
 	board_autoled_initialize();
-
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-	board_control_spi_sensors_power_configgpio();
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
 }
 
 /****************************************************************************
@@ -204,7 +193,6 @@ stm32_boardinitialize(void)
  *
  ****************************************************************************/
 
-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */

boards/px4/fmu-v5/src/usb.c

@@ -57,37 +57,6 @@
 #include <stm32_otg.h>
 #include "board_config.h"
 
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32F7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
 /************************************************************************************
  * Name:  stm32_usbsuspend
  *

boards/px4/fmu-v5x/src/CMakeLists.txt

@@ -48,6 +48,7 @@ add_dependencies(drivers_board platform_gpio_mcp23009)
 
 target_link_libraries(drivers_board
 	PRIVATE
+		arch_board_init
 		arch_io_pins
 		arch_spi
 		arch_board_hw_info

boards/px4/fmu-v5x/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU-v5 internal definitions
+ * board internal definitions
  */
 
 #pragma once
@@ -334,7 +334,7 @@
 #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
 
 /*
- * FMUv5X has a separate RC_IN
+ * board has a separate RC_IN
  *
  * GPIO PPM_IN on PI5 T8CH1
  * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
@@ -368,7 +368,7 @@
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 
-/* FMUv5X never powers off the Servo rail */
+/* board never powers off the Servo rail */
 
 #define BOARD_ADC_SERVO_VALID     (1)
 
@@ -408,10 +408,6 @@
 #define PX4_GPIO_INIT_LIST { \
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
 		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
@@ -432,15 +428,7 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT,                  \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
-		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
+		GPIO_nARMED_INIT                  \
 	}
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -486,8 +474,6 @@ int stm32_sdio_initialize(void);
 
 extern void stm32_spiinitialize(void);
 
-extern void stm32_usbinitialize(void);
-
 extern void board_peripheral_reset(int ms);
 
 #include <px4_platform_common/board_common.h>

boards/px4/fmu-v5x/src/can.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu_can.c
+ * @file can.c
  *
  * Board-specific CAN functions.
  */

boards/px4/fmu-v5x/src/init.cpp

@@ -68,6 +68,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
+#include <px4_arch/board_init.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_manifest.h>
@@ -163,23 +164,12 @@ __EXPORT void board_on_reset(int status)
 extern "C" __EXPORT void
 stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
+	px4_arch_pin_initialize();
 
 	/* configure LEDs */
-
 	board_autoled_initialize();
 
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
 	VDD_3V3_ETH_POWER_EN(true);
-
 }
 
 /****************************************************************************

boards/px4/fmu-v5x/src/usb.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu_usb.c
+ * @file usb.c
  *
  * Board-specific USB functions.
  */
@@ -57,37 +57,6 @@
 #include <stm32_otg.h>
 #include "board_config.h"
 
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32F7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
 /************************************************************************************
  * Name:  stm32_usbsuspend
  *

boards/px4/fmu-v6x/nuttx-config/include/board.h

@@ -302,7 +302,7 @@
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
 /* LED definitions ******************************************************************/
-/* The PX4 FMUV6X board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+/* The board board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
  * LED_RED a Red LED, that can be controlled by software.
  *
  * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
@@ -366,10 +366,10 @@
 #define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
 #define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
 
-#define GPIO_USART2_RX   GPIO_USART2_RX_1       /* PA3   */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2       /* PD5   */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2      /* PD4   */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2  /* PD3   */
+#define GPIO_USART2_RX   GPIO_USART2_RX_1                       /* PA3   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2                       /* PD5   */
+#define GPIO_USART2_RTS (GPIO_USART2_RTS_2 | GPIO_PULLDOWN)     /* PD4   */
+#define GPIO_USART2_CTS (GPIO_USART2_CTS_NSS_2 | GPIO_PULLDOWN) /* PD3   */
 
 #define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
 #define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
@@ -385,10 +385,10 @@
 #define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
-#define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4                   /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3                   /* PE8  */
+#define GPIO_UART7_RTS  (GPIO_UART7_RTS_2 | GPIO_PULLDOWN) /* PF8  */
+#define GPIO_UART7_CTS  (GPIO_UART7_CTS_1 | GPIO_PULLDOWN) /* PE10 */
 
 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
 #define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
@@ -447,27 +447,15 @@
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
 
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-
 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */
 
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
 #define GPIO_I2C3_SCL GPIO_I2C3_SCL_1       /* PA8 */
 #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
 
-#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTA | GPIO_PIN8)
-#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
-
 #define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
 #define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
 
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
 /* SDMMC2
  *
  *      VDD 3.3

boards/px4/fmu-v6x/nuttx-config/scripts/bootloader_script.ld

@@ -34,7 +34,7 @@
  *
  ****************************************************************************/
 
-/* The PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H753II has 2048Kb of main FLASH memory.
  * The flash memory is partitioned into a User Flash memory and a System
  * Flash memory. Each of these memories has two banks:
  *
@@ -59,7 +59,7 @@
  *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
  *      ST programmed value: System bootloader at 0x1FF0:0000
  *
- * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by
+ * The board has a test point on board, the BOOT0 pin is at ground so by
  * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
  * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
  *

boards/px4/fmu-v6x/nuttx-config/scripts/script.ld

@@ -34,7 +34,7 @@
  *
  ****************************************************************************/
 
-/* The PX4 FMUV6X uses an STM32H753II has 2048Kb of main FLASH memory.
+/* The board uses an STM32H753II has 2048Kb of main FLASH memory.
  * The flash memory is partitioned into a User Flash memory and a System
  * Flash memory. Each of these memories has two banks:
  *
@@ -59,7 +59,7 @@
  *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
  *      ST programmed value: System bootloader at 0x1FF0:0000
  *
- * The PX4 FMUV6X has a test point on board, the BOOT0 pin is at ground so by
+ * The board has a test point on board, the BOOT0 pin is at ground so by
  * default, the STM32 will boot to address 0x0800:0000 in FLASH unless the test
  * point is pulled to 3.3V.then the boot will be from 0x1FF0:0000
  *

boards/px4/fmu-v6x/src/CMakeLists.txt

@@ -40,6 +40,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 	)
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_board_init
 			nuttx_arch # sdio
 			nuttx_drivers # sdio
 			px4_layer #gpio
@@ -65,6 +66,7 @@ else()
 
 	target_link_libraries(drivers_board
 		PRIVATE
+			arch_board_init
 			arch_io_pins
 			arch_spi
 			arch_board_hw_info

boards/px4/fmu-v6x/src/board_config.h

@@ -34,7 +34,7 @@
 /**
  * @file board_config.h
  *
- * PX4FMU-v6x internal definitions
+ * board internal definitions
  */
 
 #pragma once
@@ -367,7 +367,7 @@
 #define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
 
 /*
- * FMUv6X has a separate RC_IN
+ * board has a separate RC_IN
  *
  * GPIO PPM_IN on PI5 T8CH1
  * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
@@ -401,7 +401,7 @@
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 
-/* FMUv6X never powers off the Servo rail */
+/* board never powers off the Servo rail */
 
 #define BOARD_ADC_SERVO_VALID     (1)
 
@@ -453,14 +453,11 @@
 		GPIO_TRACE,                       \
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
 		GPIO_HEATER_OUTPUT,               \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_nPOWER_IN_B,                 \
 		GPIO_nPOWER_IN_C,                 \
+		GPIO_OTGFS_VBUS,                  \
 		GPIO_VDD_5V_PERIPH_nEN,           \
 		GPIO_VDD_5V_PERIPH_nOC,           \
 		GPIO_VDD_5V_HIPOWER_nEN,          \
@@ -523,8 +520,6 @@ int stm32_sdio_initialize(void);
 
 extern void stm32_spiinitialize(void);
 
-extern void stm32_usbinitialize(void);
-
 extern void board_peripheral_reset(int ms);
 
 #include <px4_platform_common/board_common.h>

boards/px4/fmu-v6x/src/can.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu_can.c
+ * @file can.c
  *
  * Board-specific CAN functions.
  */

boards/px4/fmu-v6x/src/init.c

@@ -34,7 +34,7 @@
 /**
  * @file init.c
  *
- * PX4FMU-specific early startup code.  This file implements the
+ * board-specific early startup code.  This file implements the
  * board_app_initialize() function that is called early by nsh during startup.
  *
  * Code here is run before the rcS script is invoked; it should start required
@@ -68,6 +68,7 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
+#include <px4_arch/board_init.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform_common/px4_manifest.h>
@@ -162,23 +163,12 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
-	board_on_reset(-1); /* Reset PWM first thing */
+	px4_arch_pin_initialize();
 
 	/* configure LEDs */
-
 	board_autoled_initialize();
 
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-
-	stm32_usbinitialize();
-
 	VDD_3V3_ETH_POWER_EN(true);
-
 }
 
 /****************************************************************************

boards/px4/fmu-v6x/src/led.c

@@ -32,9 +32,9 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu2_led.c
+ * @file led.c
  *
- * PX4FMU LED backend.
+ * board LED backend.
  */
 
 #include <px4_platform_common/px4_config.h>

boards/px4/fmu-v6x/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020, 2022 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020-2022 PX4 Development Team. All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions

boards/px4/fmu-v6x/src/usb.c

@@ -32,7 +32,7 @@
  ****************************************************************************/
 
 /**
- * @file px4fmu_usb.c
+ * @file usb.c
  *
  * Board-specific USB functions.
  */
@@ -57,37 +57,6 @@
 #include <stm32_otg.h>
 #include "board_config.h"
 
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
 /************************************************************************************
  * Name:  stm32_usbsuspend
  *

platforms/nuttx/src/px4/stm/stm32f7/CMakeLists.txt

@@ -31,6 +31,7 @@
 #
 ############################################################################
 
+add_subdirectory(board_init)
 
 add_subdirectory(../stm32_common/adc adc)
 add_subdirectory(../stm32_common/board_critmon board_critmon)

platforms/nuttx/src/px4/stm/stm32f7/board_init/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_board_init
+	board_init.cpp
+)

platforms/nuttx/src/px4/stm/stm32f7/board_init/board_init.cpp

@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/board_init.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#define SPI_PIN_OFF(def)   (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
+#define SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT   |GPIO_SPEED_2MHz))
+
+void px4_arch_pin_initialize()
+{
+	// Reset PWM first thing
+	board_on_reset(-1);
+
+	// configure pins
+#if defined(PX4_GPIO_INIT_LIST)
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
+
+	for (auto &gpio : list) {
+		if (gpio != 0) {
+			px4_arch_configgpio(gpio);
+		}
+	}
+
+#endif // PX4_GPIO_INIT_LIST
+
+
+
+
+// CAN
+
+#if defined(GPIO_CAN1_RX)
+	px4_arch_configgpio(GPIO_CAN1_RX);
+#endif // GPIO_CAN1_RX
+#if defined(GPIO_CAN1_TX)
+	px4_arch_configgpio(GPIO_CAN1_TX);
+#endif // GPIO_CAN1_TX
+#if defined(GPIO_CAN1_SILENT_S0)
+	px4_arch_configgpio(GPIO_CAN1_SILENT_S0);
+#endif // GPIO_CAN1_SILENT_S0
+
+#if defined(GPIO_CAN2_RX)
+	px4_arch_configgpio(GPIO_CAN2_RX);
+#endif // GPIO_CAN2_RX
+#if defined(GPIO_CAN2_TX)
+	px4_arch_configgpio(GPIO_CAN2_TX);
+#endif // GPIO_CAN2_TX
+#if defined(GPIO_CAN2_SILENT_S0)
+	px4_arch_configgpio(GPIO_CAN2_SILENT_S0);
+#endif // GPIO_CAN2_SILENT_S0
+
+#if defined(GPIO_CAN3_RX)
+	px4_arch_configgpio(GPIO_CAN3_RX);
+#endif // GPIO_CAN3_RX
+#if defined(GPIO_CAN3_TX)
+	px4_arch_configgpio(GPIO_CAN3_TX);
+#endif // GPIO_CAN3_TX
+#if defined(GPIO_CAN3_SILENT_S0)
+	px4_arch_configgpio(GPIO_CAN3_SILENT_S0);
+#endif // GPIO_CAN3_SILENT_S0
+
+
+
+
+// I2C
+
+#if defined(CONFIG_STM32F7_I2C1)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA));
+#endif // CONFIG_STM32F7_I2C1
+
+#if defined(CONFIG_STM32F7_I2C2)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA));
+#endif // CONFIG_STM32F7_I2C2
+
+#if defined(CONFIG_STM32F7_I2C3)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA));
+#endif // CONFIG_STM32F7_I2C3
+
+#if defined(CONFIG_STM32F7_I2C4)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA));
+#endif // CONFIG_STM32F7_I2C4
+
+
+
+
+// SPI
+
+#if defined(CONFIG_STM32F7_SPI1)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MOSI));
+#endif // CONFIG_STM32_SPI1
+#if defined(CONFIG_STM32F7_SPI2)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MOSI));
+#endif // CONFIG_STM32_SPI2
+#if defined(CONFIG_STM32F7_SPI3)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MOSI));
+#endif // CONFIG_STM32_SPI3
+#if defined(CONFIG_STM32F7_SPI4)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MOSI));
+#endif // CONFIG_STM32_SPI4
+#if defined(CONFIG_STM32F7_SPI5)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MOSI));
+#endif // CONFIG_STM32_SPI5
+#if defined(CONFIG_STM32F7_SPI6)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MOSI));
+#endif // CONFIG_STM32_SPI6
+
+
+
+
+// SDMMC
+
+#if defined(CONFIG_STM32F7_SDMMC1)
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD));
+#endif // CONFIG_STM32F7_SDMMC1
+#if defined(CONFIG_STM32F7_SDMMC2)
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D0));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D1));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D2));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D3));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_CMD));
+#endif // CONFIG_STM32F7_SDMMC2
+
+
+
+
+// USB
+#if defined(CONFIG_STM32F7_OTGFS)
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
+#endif
+
+}
+

platforms/nuttx/src/px4/stm/stm32f7/include/px4_arch/board_init.h

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+__BEGIN_DECLS
+
+void px4_arch_pin_initialize(void);
+
+__END_DECLS

platforms/nuttx/src/px4/stm/stm32h7/CMakeLists.txt

@@ -31,6 +31,7 @@
 #
 ############################################################################
 
+add_subdirectory(board_init)
 
 add_subdirectory(adc)
 add_subdirectory(../stm32_common/board_critmon board_critmon)

platforms/nuttx/src/px4/stm/stm32h7/board_init/CMakeLists.txt

@@ -0,0 +1,36 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+px4_add_library(arch_board_init
+	board_init.cpp
+)

platforms/nuttx/src/px4/stm/stm32h7/board_init/board_init.cpp

@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/board_init.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+#define SPI_PIN_OFF(def)   (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
+#define SDMMC_PIN_OFF(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_FLOAT   |GPIO_SPEED_2MHz))
+
+void px4_arch_pin_initialize()
+{
+	// Reset PWM first thing
+	board_on_reset(-1);
+
+	// configure pins
+#if defined(PX4_GPIO_INIT_LIST)
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
+
+	for (auto &gpio : list) {
+		if (gpio != 0) {
+			px4_arch_configgpio(gpio);
+		}
+	}
+
+#endif // PX4_GPIO_INIT_LIST
+
+
+
+
+// CAN
+
+#if defined(GPIO_CAN1_RX)
+	px4_arch_configgpio(GPIO_CAN1_RX);
+#endif // GPIO_CAN1_RX
+#if defined(GPIO_CAN1_TX)
+	px4_arch_configgpio(GPIO_CAN1_TX);
+#endif // GPIO_CAN1_TX
+#if defined(GPIO_CAN1_SILENT_S0)
+	px4_arch_configgpio(GPIO_CAN1_SILENT_S0);
+#endif // GPIO_CAN1_SILENT_S0
+
+#if defined(GPIO_CAN2_RX)
+	px4_arch_configgpio(GPIO_CAN2_RX);
+#endif // GPIO_CAN2_RX
+#if defined(GPIO_CAN2_TX)
+	px4_arch_configgpio(GPIO_CAN2_TX);
+#endif // GPIO_CAN2_TX
+#if defined(GPIO_CAN2_SILENT_S0)
+	px4_arch_configgpio(GPIO_CAN2_SILENT_S0);
+#endif // GPIO_CAN2_SILENT_S0
+
+#if defined(GPIO_CAN3_RX)
+	px4_arch_configgpio(GPIO_CAN3_RX);
+#endif // GPIO_CAN3_RX
+#if defined(GPIO_CAN3_TX)
+	px4_arch_configgpio(GPIO_CAN3_TX);
+#endif // GPIO_CAN3_TX
+#if defined(GPIO_CAN3_SILENT_S0)
+	px4_arch_configgpio(GPIO_CAN3_SILENT_S0);
+#endif // GPIO_CAN3_SILENT_S0
+
+
+
+
+// I2C
+
+#if defined(CONFIG_STM32H7_I2C1)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA));
+#endif // CONFIG_STM32H7_I2C1
+
+#if defined(CONFIG_STM32H7_I2C2)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA));
+#endif // CONFIG_STM32H7_I2C2
+
+#if defined(CONFIG_STM32H7_I2C3)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA));
+#endif // CONFIG_STM32H7_I2C3
+
+#if defined(CONFIG_STM32H7_I2C4)
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL));
+	px4_arch_configgpio(PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA));
+#endif // CONFIG_STM32H7_I2C4
+
+
+
+
+// SPI
+
+#if defined(CONFIG_STM32H7_SPI1)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI1_MOSI));
+#endif // CONFIG_STM32_SPI1
+#if defined(CONFIG_STM32H7_SPI2)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI2_MOSI));
+#endif // CONFIG_STM32_SPI2
+#if defined(CONFIG_STM32H7_SPI3)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI3_MOSI));
+#endif // CONFIG_STM32_SPI3
+#if defined(CONFIG_STM32H7_SPI4)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI4_MOSI));
+#endif // CONFIG_STM32_SPI4
+#if defined(CONFIG_STM32H7_SPI5)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI5_MOSI));
+#endif // CONFIG_STM32_SPI5
+#if defined(CONFIG_STM32H7_SPI6)
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_SCK));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MISO));
+	px4_arch_configgpio(SPI_PIN_OFF(GPIO_SPI6_MOSI));
+#endif // CONFIG_STM32_SPI6
+
+
+
+
+// SDMMC
+
+#if defined(CONFIG_STM32H7_SDMMC1)
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD));
+#endif // CONFIG_STM32H7_SDMMC1
+#if defined(CONFIG_STM32H7_SDMMC2)
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D0));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D1));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D2));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_D3));
+	px4_arch_configgpio(PX4_GPIO_PIN_OFF(GPIO_SDMMC2_CMD));
+#endif // CONFIG_STM32H7_SDMMC2
+
+
+
+
+// USB
+#if defined(CONFIG_STM32H7_OTGFS)
+	px4_arch_configgpio(GPIO_OTGFS_VBUS);
+#endif
+
+}
+

platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/board_init.h

@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+__BEGIN_DECLS
+
+void px4_arch_pin_initialize(void);
+
+__END_DECLS